From f0ccf37dce1373d0e3ca70a68772de98ed67d995 Mon Sep 17 00:00:00 2001 From: schodet Date: Wed, 27 Apr 2005 18:37:57 +0000 Subject: Modif des compteurs. Modif de Taz. --- n/asserv/src/pwm.c | 18 ------------------ 1 file changed, 18 deletions(-) (limited to 'n/asserv/src/pwm.c') diff --git a/n/asserv/src/pwm.c b/n/asserv/src/pwm.c index 093e064..4ab8722 100644 --- a/n/asserv/src/pwm.c +++ b/n/asserv/src/pwm.c @@ -73,36 +73,18 @@ pwm_init (void) static inline uint8_t pwm_preproc (uint16_t v) { - // This is a try to correct the optocoupler problem... - //v += 0x10; if (v > 255) return 255; else return v; } -extern int8_t speed_left, speed_right; - -/** Filter PWM values. */ -static inline void -pwm_filter (void) -{ - /* This is a try to correct vibration problem. */ - if ((speed_left > 0 && pwm_left < 0) - || (speed_left < 0 && pwm_left > 0)) - pwm_left = 0; - if ((speed_right > 0 && pwm_right < 0) - || (speed_right < 0 && pwm_right > 0)) - pwm_right = 0; -} - /** Update the hardware PWM values. */ static inline void pwm_update (void) { uint16_t left, right; uint8_t dir; - pwm_filter (); dir = PORTB & ~(_BV (PWM_LEFT_DIR) | _BV (PWM_RIGHT_DIR)); /* Set left PWM. */ if (pwm_left == 0) -- cgit v1.2.3